CN111932820B - Intelligent no-fly area management method and system based on flight equipment signal shielding - Google Patents
Intelligent no-fly area management method and system based on flight equipment signal shielding Download PDFInfo
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- CN111932820B CN111932820B CN202010691929.9A CN202010691929A CN111932820B CN 111932820 B CN111932820 B CN 111932820B CN 202010691929 A CN202010691929 A CN 202010691929A CN 111932820 B CN111932820 B CN 111932820B
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
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- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
An intelligent no-fly area management method and system based on flight equipment signal shielding comprises the following steps: controlling a general signal detector to acquire authorized frequency band signals of the flight equipment in a detection range in real time and control a monitoring camera to capture monitoring images in real time, analyzing whether the flight equipment exists in a warning area of a flight forbidding boundary, if so, identifying real-time space coordinate data of the flight equipment and analyzing whether the flight equipment enters the flight forbidding boundary, if so, controlling a first signal interference device to enter a signal shielding state of preset time and analyzing whether the flight equipment returns, if so, controlling a second signal interference device to enter the signal shielding state of the preset time and analyzing whether the flight equipment falls, otherwise, controlling a capture unmanned aerial vehicle to track the space coordinate data and controlling a third signal interference device to transmit interference signals to the flight equipment, after the flight equipment drops to ground, the unmanned aerial vehicle is grabbed in control and the unmanned aerial vehicle is grabbed and is fixed to be carried to the warehouse of the no-fly management department by utilizing the grabbing mechanism.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle counter-braking, in particular to an intelligent no-fly area management method and system based on flight equipment signal shielding.
Background
The unmanned aerial vehicle trade is flourishing, has made things convenient for people's daily life greatly, and people can utilize unmanned aerial vehicle to shoot from some special angles for example, can also utilize unmanned aerial vehicle to send the express delivery. Unmanned aerial vehicle has also brought adverse effect in some aspects when making things convenient for people's life. As the use of drones is spreading, problems are also gradually becoming more and more prominent, for example, random flight of drones may cause disturbance to private spaces or public spaces that are not suitable for drone flight. For another example, with the development of self-media, after some emergency events occur, many civil unmanned aerial vehicles may fly to the area for first-time data acquisition, but this may affect the response of emergency departments, for example, when a rescue helicopter is needed, the safety of the rescue helicopter may be seriously affected by the flight of the unmanned aerial vehicle in the area, thereby delaying the rescue.
Therefore, how to combine signal shielding and unmanned aerial vehicle counter-control together for after the flight equipment that breaks rules and regulations has got into in the banned flight boundary that sets up, will through multilayer signal shielding ware the flight equipment that breaks rules and regulations will disturb drop and dispatch corresponding snatch unmanned aerial vehicle and go to snatch the flight equipment that breaks rules and regulations, then carry the flight equipment that breaks rules and regulations to the management department warehouse position of not flying to the banning, look over the image violation condition that the flight equipment that breaks rules and regulations was shot and wait for the user of the flight equipment that breaks rules and regulations to go to register, thereby prevent that information of secret area reveals and the privacy of residential quarter reveals the problem that needs to be solved at present urgently.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the disadvantages in the background art, embodiments of the present invention provide an intelligent no-fly zone management method and system based on a flight device signal shield, which can effectively solve the problems related to the background art.
The technical scheme is as follows:
an intelligent no-fly zone management method based on flight equipment signal shielding, the method comprises the following steps:
s1, controlling a general signal detector arranged at the position of a monitoring rod on a no-fly boundary to start to acquire an authorized frequency band signal of the flight equipment in a detection range in real time and controlling a monitoring camera arranged at the outer position of the monitoring rod to start to capture a monitoring image in real time;
s2, analyzing whether the flying equipment exists in the warning area of the no-fly boundary in real time according to the authorized frequency band signal of the flying equipment and the monitoring image;
s3, if yes, identifying real-time space coordinate data of the flight equipment according to the monitoring image, and analyzing whether the flight equipment enters a no-fly boundary or not in real time according to the space coordinate data and the monitoring image;
s4, if yes, controlling first signal interference equipment arranged at a first protection zone position inside a no-fly boundary to start to enter a signal shielding state within a preset time, and analyzing whether the flight equipment has return flight or not in real time according to the monitoring image;
s5, if yes, controlling second signal interference equipment arranged at a second protection area outside the no-fly boundary to start to enter a signal shielding state within preset time, and analyzing whether the flight equipment falls off in real time according to the monitoring image;
s6, if not, controlling the grabbing unmanned aerial vehicle closest to the space coordinate data of the flying equipment to track the space coordinate data position in real time according to the space coordinate data analyzed in real time, and controlling a third signal interference equipment arranged above the grabbing unmanned aerial vehicle to emit an interference signal to the flying equipment in real time;
s7, after the flying equipment is identified to fall to the ground according to the monitoring image, the grabbing unmanned aerial vehicle is controlled to grab and fix the flying equipment by utilizing a grabbing mechanism below the grabbing unmanned aerial vehicle and control the grabbing unmanned aerial vehicle to carry the grabbed flying equipment to the warehouse position of a no-fly management department.
As a preferred mode of the present invention, after S2, the method further includes the steps of:
s20, after the fact that the flying equipment enters the no-fly boundary is analyzed, analyzing the type of the no-fly area in real time according to the recorded information of the no-fly boundary and analyzing whether the no-fly area is a residential area or a confidential area in the range of the no-fly boundary in real time according to the type of the area;
s21, if yes, identifying real-time space coordinate data of the flight equipment according to the monitoring image and analyzing whether the flight equipment rises to a forbidden height or not in real time according to the space coordinate data;
and S22, if yes, controlling a second signal interference device arranged at the position of the second protection area to start to enter a signal shielding state of preset time so as to drive the illegal flying device to ascend.
As a preferred mode of the present invention, after S4, the method further includes the steps of:
s40, analyzing whether the illegal flying equipment falls into a no-fly area in real time according to the monitoring image and the space coordinate data of the flying equipment after analyzing that the illegal flying equipment does not return;
s41, if yes, analyzing whether the flying equipment flies again or not in real time according to the monitoring image and the space coordinate data;
s42, if so, controlling a grabbing unmanned aerial vehicle which is arranged in the no-fly area and is closest to the space coordinate data to track the space coordinate data in real time and controlling the grabbing unmanned aerial vehicle to grab and fix the flying equipment by using a grabbing mechanism at the lower position;
and S43, controlling the grabbing unmanned aerial vehicle to carry the grabbed flying equipment to the warehouse position of the no-fly management department.
As a preferred mode of the present invention, before grabbing the unmanned aerial vehicle for flight, the method further includes the following steps:
s100, controlling an unmanned aerial vehicle camera arranged at the external position of the grabbing unmanned aerial vehicle to start and shoot an unmanned aerial vehicle image in real time and controlling the grabbing unmanned aerial vehicle to fly to an appointed coordinate according to the unmanned aerial vehicle image;
s101, when the grabbing unmanned aerial vehicle flies, controlling third signal interference equipment arranged above the grabbing unmanned aerial vehicle to enter a to-be-operated state;
s102, when the grabbing unmanned aerial vehicle tracks the designated space coordinate data in real time, controlling the third signal interference equipment to adjust to face the space coordinate data center in real time through a rotating mechanism and analyzing whether the distance between the grabbing unmanned aerial vehicle and the space coordinate data center is smaller than a preset distance or not in real time;
and S102, if so, controlling the third signal interference equipment to start to transmit interference signals to the flight equipment corresponding to the space coordinate data.
As a preferred mode of the present invention, when the grabbing drone in the confidential no-fly area tracks the illegal flying device, the method further includes the following steps:
s200, analyzing whether the grabbing unmanned aerial vehicle tracks the flight equipment or not in real time according to the unmanned aerial vehicle image;
s201, if not, controlling monitoring cameras at the positions of a plurality of monitoring rods arranged in a no-fly area to start a real-time monitoring image and combining the monitoring image and unmanned aerial vehicle images shot by all unmanned aerial vehicle cameras in the no-fly area to form a covering monitoring network;
s202, controlling all grabbing unmanned aerial vehicles in the no-fly area to track or impact the flying equipment according to the coverage monitoring net;
s203, after the flying equipment is identified to fall to the ground according to the coverage monitoring network, the grabbing mechanism which is closest to the flying equipment and is arranged below the grabbing unmanned aerial vehicle is controlled to grab and fix the grabbing unmanned aerial vehicle and the flying equipment, and the grabbing unmanned aerial vehicle is controlled to carry the grabbed flying equipment to the warehouse position of a flight control department.
An intelligent no-fly zone management system based on flight equipment signal shielding, which uses the intelligent no-fly zone management method based on flight equipment signal shielding of any one of claims 1-5, and comprises a no-fly device, a tracking device and a server;
the flight forbidding device comprises a monitoring rod, a general signal detector, a monitoring camera, a warning area, a first protection area, first signal interference equipment, a second protection area and second signal interference equipment, wherein the monitoring rod is arranged in a planned flight forbidding area and a flight forbidding boundary position; the universal signal detector corresponds to the monitoring rod and is arranged above the monitoring rod and used for acquiring an authorized frequency band signal of the flight equipment in a detection range; the monitoring camera corresponds to the monitoring rod and is arranged above the monitoring rod and used for shooting an environmental image around the monitoring rod; the warning area is arranged between the no-fly boundary and the second protection area; the first defense area is arranged at the flight forbidding area and the flight forbidding boundary position and is used for preventing the illegal flight equipment from entering the flight forbidding area; the first signal interference equipment is arranged at the position of the first protection area and used for transmitting an interference signal to the upper part of the first protection area; the second protection area is arranged at the position outside the warning area and used for preventing the illegal flying equipment from escaping; the second signal interference equipment is arranged at the position of a second protection area and used for transmitting interference signals to the upper part of the second protection area;
the tracking device comprises a grabbing unmanned aerial vehicle, an unmanned aerial vehicle camera, a grabbing mechanism, a rotating mechanism and third signal interference equipment, wherein the grabbing unmanned aerial vehicle is used for grabbing an illegal flight equipment at a safety position set in a dormant no-fly area; the unmanned aerial vehicle camera is arranged at the outer position of the grabbing unmanned aerial vehicle and is used for shooting an environment image around the grabbing unmanned aerial vehicle; the grabbing mechanism is arranged below the grabbing unmanned aerial vehicle and used for grabbing fixed illegal flying equipment; the rotating mechanism is arranged above the grabbing unmanned aerial vehicle, is respectively connected with the grabbing unmanned aerial vehicle and third signal interference equipment, and is used for driving the connected third signal interference equipment to rotate; the third signal interference equipment is connected with the rotating mechanism and used for transmitting interference signals to the violation flying equipment;
the server is arranged in the planning placement of the no-fly management department, and comprises:
the wireless module is used for being wirelessly connected with the signal detector, the monitoring camera, the first signal interference equipment, the second signal interference equipment, the grabbing unmanned aerial vehicle, the unmanned aerial vehicle camera, the grabbing mechanism, the rotating mechanism, the third signal interference equipment, the no-fly management department and the network respectively;
the signal detection module is used for controlling the starting or the closing of the appointed general signal detector;
the monitoring shooting module is used for controlling the starting or closing of the appointed monitoring camera;
the information analysis module is used for processing and analyzing the information according to the specified information;
the coordinate identification module is used for calculating space coordinate data of the specified object according to the image;
the first interference module is used for controlling the first signal interference equipment to execute an interference mode with set duration according to the set steps;
the second interference module is used for controlling the second signal interference equipment to execute an interference mode with set duration according to the set steps;
the grabbing control module is used for controlling the grabbing unmanned aerial vehicle to execute the set unmanned aerial vehicle flight operation according to the set steps;
the third interference module is used for controlling third signal interference equipment to transmit interference signals to the specified object according to the set steps;
and the grabbing fixing module is used for controlling the grabbing mechanism to execute the set grabbing operation according to the set steps.
As a preferred aspect of the present invention, the server further includes:
and the area identification module is used for recording the type information of the no-fly area and identifying the type of the appointed no-fly area.
As a preferred aspect of the present invention, the server further includes:
the unmanned aerial vehicle shooting module is used for controlling the starting or closing of the unmanned aerial vehicle camera;
and the rotation adjusting module is used for controlling the rotating mechanism to execute the set rotating operation of the third signal interference equipment according to the set steps.
As a preferred aspect of the present invention, the server further includes:
the coverage combination module is used for combining the monitoring image shot by the monitoring camera of the no-fly area and the unmanned aerial vehicle image shot by the unmanned aerial vehicle camera to form a coverage monitoring network of the no-fly area;
and the collision control module is used for controlling the grabbing unmanned aerial vehicle to execute the set collision operation of the flight equipment according to the set steps.
The invention realizes the following beneficial effects:
1. after the intelligent no-fly area management system is started, monitoring the flight equipment in the no-fly boundary warning area in real time, controlling the first signal interference equipment in the first protection area to start to perform signal interference on the flight equipment to enable the flight equipment to fall or return if the flight equipment is detected to enter the no-fly boundary, and controlling the second signal interference equipment in the second protection area to start to perform signal interference on the flight equipment to prevent the flight equipment from flying away and prevent an intake device of the flight equipment from shooting confidential or private images when the flight equipment is detected to return; if the flight equipment still does not drop then control first signal interference equipment stop operation and dispatch with the flight equipment is nearest snatch the unmanned aerial vehicle and go to the pursuit and avoid snatching unmanned aerial vehicle and get into the second guard area, utilize third signal interference equipment to right in real time when snatching unmanned aerial vehicle and trail the flight equipment interferes with, after the flight equipment drops to ground, control snatch unmanned aerial vehicle and utilize and snatch the mechanism will the flight equipment snatchs and carries to forbidden management department warehouse position to for the staff looks over the image violation condition that violation flight equipment shot and waits for the user of violation flight equipment to go to registering, thereby prevent information disclosure and the privacy of residential quarter in secret area from revealing.
2. And if the flying equipment is detected to fall to the no-fly area and fly up again, controlling the grabbing unmanned aerial vehicle in the nearest area to track in real time and grab the flying equipment by using the grabbing mechanism, and grabbing and carrying the flying equipment to the warehouse position of the no-fly management department after grabbing.
3. When the flying equipment is detected to be positioned in the area outside the no-fly boundary and ascend to the no-fly height, the second signal interference equipment is controlled to carry out signal interference on the flying equipment so as to drive the illegal flying equipment to ascend; if it is detected that the illegal flying equipment enters a confidential flight-forbidden area, all monitoring combinations of the flight-forbidden area are controlled to form a covering monitoring net, all grabbing unmanned aerial vehicles are controlled to track or impact the flying equipment until the flying equipment is knocked down, and then the grabbing unmanned aerial vehicles are controlled to grab and carry the flying equipment to the warehouse position of a flight-forbidden management department by using a grabbing mechanism.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a flowchart of a method for managing an intelligent no-fly area according to an example of the present invention;
FIG. 2 is a flow chart of a privacy protection method for peeping prevention according to an example of the present invention;
fig. 3 is a flowchart of a flight processing method of a no-fly area of a flight device according to an example of the present invention;
fig. 4 is a flowchart of a control method for a grabbing drone according to one example of the present invention;
FIG. 5 is a flow chart of a confidential area privacy protection method according to an exemplary embodiment of the present invention;
fig. 6 is a connection relationship diagram of an intelligent no-fly region management system according to an example of the present invention;
fig. 7 is a schematic top view of a range of no-fly zones provided by an example of the present invention;
FIG. 8 is a top schematic view of a monitoring rod provided in accordance with one example of the present invention;
fig. 9 is a schematic diagram of a grabbing drone provided by one example of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
Referring to fig. 1, 4, and 6-9.
Specifically, the present embodiment provides an intelligent no-fly area management method based on flight device signal shielding, where the method includes the following steps:
s1, controlling the general signal detector 11 arranged at the position of the monitoring rod 10 at the no-fly boundary to start to acquire the authorized frequency band signal of the flight equipment in the detection range in real time and controlling the monitoring camera 12 arranged at the outer position of the monitoring rod 10 to start to capture the monitoring image in real time.
In S1, specifically after the server 3 is started, the signal detection module 31 included in the server 3 controls the universal signal detector 11 disposed at the position of the monitoring rod 10 of the no-fly boundary to start to acquire the authorized frequency band signal of the flight device in the detection range in real time, so as to acquire the flight device in the warning area 13 of the no-fly boundary; meanwhile, the monitoring camera module 32 included in the server 3 controls the monitoring camera 12 arranged at the external position of the monitoring rod 10 to start to capture monitoring images in real time; the monitoring image refers to an environmental image of the area of the monitoring rod 10 where the monitoring camera 12 is located.
And S2, analyzing whether the flight equipment exists in the warning area 13 of the no-fly boundary in real time according to the authorized frequency band signal of the flight equipment and the monitoring image.
In S2, specifically after the signal detector is completely started and the monitoring camera 12 is completely started, the information analysis module 33 included in the server 3 analyzes whether the flight device exists in the warning area 13 of the no-fly boundary in real time according to the flight device authorized frequency band signal and the monitoring image, and after the flight device authorized frequency band signal is detected, waits for the monitoring image to appear in the flight device and the flight device enters the warning area 13, the flight device is considered to exist.
And S3, if yes, identifying the real-time space coordinate data of the flight equipment according to the monitoring image, and analyzing whether the flight equipment enters a no-fly boundary or not in real time according to the space coordinate data and the monitoring image.
In S3, specifically, after the information analysis module 33 analyzes that the warning area 13 has the flight device, the coordinate identification module 34 included in the server 3 obtains real-time spatial coordinate data of the flight device in real time according to the monitoring image, and the information analysis module 33 analyzes whether the flight device enters the no-fly boundary in real time according to the spatial coordinate data and the monitoring image, that is, whether the spatial coordinate data of the flight device corresponds to any area of the no-fly boundary is analyzed.
And S4, if yes, controlling the first signal interference equipment 15 arranged at the first protection area 14 position inside the no-fly boundary to start to enter a signal shielding state within a preset time, and analyzing whether the flight equipment has a return flight in real time according to the monitoring image.
In S4, specifically, after the information analysis module 33 analyzes that the flight device has entered the no-fly boundary, the flight device is regarded as an illegal flight device, and the first interference module 35 included in the server 3 controls the first signal interference device 15 disposed in the first protection zone 14 inside the no-fly boundary to start entering a signal shielding state for a preset time, where the preset time is set by the no-fly management department and is preferably 10 minutes in this embodiment; the first signal interference device 15 is a signal interference device corresponding to interference flight devices for receiving and transmitting signals; after the first signal interference device 15 is started, the information analysis module 33 analyzes whether the flight device has a return flight in real time according to the monitoring image, that is, whether the flight device flies toward an area outside a no-fly boundary.
And S5, if yes, controlling the second signal interference equipment 17 arranged at the position of the second protection area 16 outside the no-fly boundary to start to enter a signal shielding state within a preset time, and analyzing whether the flight equipment falls off in real time according to the monitoring image.
In S5, specifically, after the information analysis module 33 analyzes that the flight device has a return flight, the second interference module 36 included in the server 3 controls the second signal interference device 17 disposed at the second protection area 16 outside the no-fly boundary to start to enter a signal shielding state for a preset time, where the second signal interference device 17 is a signal interference device corresponding to an interference flight device for receiving and transmitting signals; after the second signal interference device 17 is started, the information analysis module 33 analyzes whether the flight device falls off in real time according to the monitoring image, that is, whether the flight device falls to the ground is analyzed.
S6, if not, controlling the nearest grabbing unmanned aerial vehicle 20 to track the position of the space coordinate data in real time according to the space coordinate data of the flying equipment analyzed in real time, and controlling the third signal interference equipment 24 arranged above the grabbing unmanned aerial vehicle 20 to emit interference signals to the flying equipment in real time.
In S6, specifically after the information analysis module 33 analyzes that the flying device does not fall to the ground, the capture control module 37 included in the server 3 controls the capture drone 20 closest to the flying device to track the space coordinate data in real time according to the space coordinate data analyzed in real time, that is, controls the capture drone 20 closest to the space coordinate data to track the flying device in real time, and while the capture drone 20 tracks, the third interference module 38 included in the server 3 controls the third signal interference device 24 disposed above the capture drone 20 to transmit an interference signal to the flying device in real time; wherein the third signal interference device 24 is a signal interference device corresponding to the interfering flying device for transceiving signals.
S7, after the flying equipment is identified to fall to the ground according to the monitoring image, the grabbing unmanned aerial vehicle 20 is controlled to grab and fix the flying equipment by utilizing the grabbing mechanism 22 below and control the grabbing unmanned aerial vehicle 20 to carry the grabbed flying equipment to the warehouse position of the non-flying management department.
In S7, specifically, after the information analysis module 33 identifies that the flying device falls to the ground according to the monitoring image, the grabbing control module 37 controls the grabbing unmanned aerial vehicle 20 to fly to the upper side of the flying device and correspond the grabbing mechanism 22 below the grabbing unmanned aerial vehicle 20 to the flying device, then the grabbing fixing module 39 included in the server 3 controls the grabbing mechanism 22 arranged at the position below the grabbing unmanned aerial vehicle 20 to grab and fix the flying device, and after the grabbing mechanism 22 grabs and fixes the flying device, the grabbing control module 37 controls the grabbing unmanned aerial vehicle 20 to carry the grabbed flying device to the warehouse position of the no-fly management department; and then, detecting, inspecting and registering the flight equipment by staff of a flight forbidding management department, deleting the illegal image if the illegal image exists, carrying out corresponding punishment on the flight equipment after an owner of the flight equipment arrives, and correspondingly registering the human body of the flight equipment.
As a preferred mode of the present invention, before grabbing the drone 20 for flight, the method further includes the following steps:
s100, control sets up in the unmanned aerial vehicle camera 21 that snatchs 20 outside positions of unmanned aerial vehicle and starts to shoot the unmanned aerial vehicle image in real time and according to unmanned aerial vehicle image control snatch 20 unmanned aerial vehicle and fly to appointed coordinate.
Specifically, before the grabbing unmanned aerial vehicle 20 flies, the unmanned aerial vehicle shooting module 41 included in the server 3 controls the unmanned aerial vehicle camera 21 arranged at the position outside the grabbing unmanned aerial vehicle 20 to start shooting the unmanned aerial vehicle image in real time, wherein the unmanned aerial vehicle image refers to an environment image around the grabbing unmanned aerial vehicle 20 shot by the unmanned aerial vehicle camera 21; after the unmanned aerial vehicle camera 21 shoots the completion, the grabbing control module 37 controls the grabbing unmanned aerial vehicle 20 to fly to the appointed space coordinate data position according to the unmanned aerial vehicle image.
S101, when the grabbing unmanned aerial vehicle 20 flies, the third signal interference equipment 24 arranged above the grabbing unmanned aerial vehicle 20 is controlled to enter a state to be operated.
Specifically, when the grabbing unmanned aerial vehicle 20 flies, the third jamming module 38 controls the third signal jamming device 24 arranged above the grabbing unmanned aerial vehicle 20 to enter a state to be operated.
S102, when the grabbing unmanned aerial vehicle 20 tracks the designated space coordinate data in real time, controlling the third signal interference equipment 24 to adjust to face the space coordinate data center in real time through the rotating mechanism 23 and analyzing whether the distance between the grabbing unmanned aerial vehicle 20 and the space coordinate data center is smaller than a preset distance in real time.
Specifically, when the grabbing unmanned aerial vehicle 20 tracks the designated space coordinate data in real time, the rotation adjusting module 42 included in the server 3 controls the third signal interference device 24, which is arranged at a position above the grabbing unmanned aerial vehicle 20 and is in real-time driving connection with the rotating mechanism 23, to face the space coordinate data center in real time, and meanwhile, the information analyzing module 33 analyzes whether the distance between the grabbing unmanned aerial vehicle 20 and the space coordinate data center is smaller than a preset distance in real time; the preset distance is set by the no-fly management department device and is smaller than the effective transmission distance of the third signal interference device 24, in this embodiment, a position half of the effective transmission distance of the third signal interference device 24 is preferred, for example, the preset distance is 500 meters when the effective transmission distance of the third signal interference device 24 is 1000 meters.
And S102, if so, controlling the third signal interference equipment 24 to start transmitting interference signals to the flight equipment corresponding to the space coordinate data.
Specifically, after the information analysis module 33 analyzes that the grabbing unmanned aerial vehicle 20 has a distance smaller than the preset distance from the space coordinate data center, the third interference module 38 controls the third signal interference device 24 to start to continuously transmit the interference signal to the flight device corresponding to the space coordinate data.
Example two
Referring to fig. 3, shown in fig. 6-9.
Specifically, this embodiment is substantially the same as the first embodiment, except that in this embodiment, after S4, the method further includes the following steps:
and S40, analyzing whether the flight equipment falls into a no-fly area in real time according to the monitoring image and the space coordinate data of the flight equipment after analyzing that the illegal flight equipment does not return.
Specifically, the information analysis module 33 analyzes that the illegal flight device does not return, that is, the illegal flight device does not return, and the information analysis module 33 analyzes whether the flight device falls into a no-fly area in real time according to the monitoring image and the spatial coordinate data of the flight device, that is, whether the illegal flight device falls into the no-fly area.
And S41, if yes, analyzing whether the flying equipment flies again or not in real time according to the monitoring image and the space coordinate data.
Specifically, after the information analysis module 33 analyzes that the flying device falls into the no-fly area, the information analysis module 33 analyzes whether the flying device flies again according to the monitoring image and the spatial coordinate data in real time, so as to prevent the flying device with strong anti-interference capability from being restarted.
And S42, if so, controlling the grabbing unmanned aerial vehicle 20 which is arranged in the no-fly area and is closest to the space coordinate data to track the space coordinate data in real time and controlling the grabbing unmanned aerial vehicle 20 to grab and fix the flying equipment by using the grabbing mechanism 22 at the lower position.
Specifically, information analysis module 33 analysis goes out the flight equipment has the back of flying once more, grab control module control with the space coordinate data distance is nearest snatch unmanned aerial vehicle 20 and fly extremely in real time the flight equipment top and with the below in real time snatch mechanism 22 with the flight equipment corresponds, then the fixed module 39 control of snatching that server 3 contains set up in snatch the mechanism 22 that snatchs of unmanned aerial vehicle 20 below position will the flight equipment snatchs and fixes.
And S43, controlling the grabbing unmanned aerial vehicle 20 to carry the grabbed flying equipment to the warehouse position of the no-fly management department.
Specifically, after the grabbing mechanism 22 and the flying device grab and fix the flying device, the grabbing control module 37 controls the grabbing unmanned aerial vehicle 20 to carry the grabbed flying device to the warehouse position of the no-fly management department, then the staff of the no-fly management department detects, inspects and registers the flying device, deletes the illegal image if the illegal image exists, and after waiting for the owner of the flying device to arrive, correspondingly penalizes the owner of the flying device and correspondingly registers the human body of the flying device.
EXAMPLE III
Referring to fig. 2, fig. 5-9.
Specifically, this embodiment is substantially the same as the first embodiment, except that in this embodiment, after S2, the method further includes the following steps:
and S20, after the situation that the flying equipment enters the no-fly boundary is analyzed, analyzing the type of the area in which the flying equipment is located in real time according to the recorded information of the no-fly boundary, and analyzing whether the area in the no-fly boundary is a residential area or a confidential area in real time according to the type of the area.
Specifically, after the information analysis module 33 analyzes that the flight device enters the no-fly boundary, the area identification module 40 included in the server 3 analyzes the category of the flight device near the no-fly area in real time according to the information recorded in the no-fly boundary, and then the information analysis module 33 analyzes whether the area within the no-fly boundary is a residential area or a confidential area in real time according to the area category.
And S21, if yes, identifying the real-time space coordinate data of the flight equipment according to the monitoring image and analyzing whether the flight equipment rises to the forbidden height in real time according to the space coordinate data.
Specifically, after the information analysis module 33 analyzes that the no-fly boundary range is a residential area or a confidential area, that is, the no-fly area is the residential area or the confidential area, the coordinate identification module 34 identifies real-time spatial coordinate data of the flight device according to the monitoring image, and meanwhile, the information analysis module 33 analyzes whether the flight device rises to a prohibited height in real time according to the spatial coordinate data, wherein the prohibited height is a height set by a no-fly management department, which is prohibited for unmanned aerial vehicle flight.
And S22, if yes, controlling the second signal interference device 17 arranged at the position of the second protection area 16 to start to enter a signal shielding state of a preset time to drive the illegal flying device to ascend.
Specifically, after the information analysis module 33 analyzes that the flight device has risen to the forbidden altitude, the second interference module 36 controls the second signal interference device 17 disposed at the second protection area 16 to start to enter a signal shielding state for a preset time to drive the violating flight device to rise, so as to interfere the violating flight device that does not enter the no-fly boundary but flies in the vicinity of the no-fly boundary.
As a preferred mode of the present invention, when the grabbing drone 20 in the confidential no-fly zone tracks the illegal flying device, the method further includes the following steps:
s200, analyzing whether the grabbing unmanned aerial vehicle 20 tracks the flight equipment or not in real time according to the unmanned aerial vehicle images.
Specifically, when the grabbing unmanned aerial vehicle 20 in the confidential no-fly area tracks the illegal flying equipment, the information analysis module 33 analyzes whether the grabbing unmanned aerial vehicle 20 tracks the flying equipment in real time according to the unmanned aerial vehicle image.
S201, if not, controlling the monitoring cameras 12 at the positions of the monitoring rods 10 in the no-fly area to start real-time monitoring images and combining the monitoring images and unmanned aerial vehicle images shot by all the unmanned aerial vehicle cameras 21 in the no-fly area to form a coverage monitoring network.
Specifically, analyze at information analysis module 33 snatch unmanned aerial vehicle 20 and not have tracked behind the flight equipment, the control is shot the surveillance camera head 12 that the regional a plurality of surveillance rods 10 positions of setting up of banning flying starts the real time monitoring image of module 32 control, and after surveillance camera head 12 starts the completion, the coverage combination module 43 that the server 3 contains will the unmanned aerial vehicle image combination that all unmanned aerial vehicle cameras 21 of surveillance image and banning flying regional shot forms the coverage monitoring net to shoot the environmental image in the area scope of banning flying in real time.
S202, all the grabbing unmanned aerial vehicles 20 in the no-fly area are controlled to track or impact the flying equipment according to the coverage monitoring net.
Specifically, after the coverage monitoring network is combined, the capture control module 37 controls the capture unmanned aerial vehicle 20 located in one half of the no-fly area to track the flight device according to the coverage monitoring network, and meanwhile, the impact control module 44 included in the server 3 controls the capture unmanned aerial vehicle 20 located in the other half of the no-fly area to impact the flight device according to the coverage monitoring network; the tracking means that the grabbing unmanned aerial vehicle 20 interferes with the flight equipment in real time by using the third signal interference equipment 24 above the grabbing unmanned aerial vehicle, and the collision means that the grabbing unmanned aerial vehicle 20 flies at the fastest speed and directly collides with the flight equipment.
S203, after the flying equipment is identified to fall to the ground according to the coverage monitoring network, the grabbing unmanned aerial vehicle 20 closest to the flying equipment is controlled to grab and fix the flying equipment by using the grabbing mechanism 22 below the grabbing unmanned aerial vehicle 20, and the grabbing unmanned aerial vehicle 20 is controlled to carry the grabbed flying equipment to the warehouse position of the no-fly management department.
Specifically, after the information analysis module 33 identifies that the flying equipment falls to the ground according to the coverage monitoring network, the grabbing control module 37 controls the grabbing unmanned aerial vehicle 20 closest to the flying equipment to fly to the upper side of the flying equipment and corresponds the grabbing mechanism 22 below the grabbing unmanned aerial vehicle 20 to the flying equipment, then the grabbing fixing module 39 controls the grabbing mechanism 22 arranged below the grabbing unmanned aerial vehicle 20 to grab and fix the flying equipment, and after the grabbing mechanism 22 grabs and fixes the flying equipment, the grabbing control module 37 controls the grabbing unmanned aerial vehicle 20 to carry the grabbed flying equipment to the warehouse position of the no-fly management department; and then, detecting, inspecting and registering the flight equipment by staff of a flight forbidding management department, deleting the illegal image if the illegal image exists, carrying out corresponding punishment on the flight equipment after an owner of the flight equipment arrives, and correspondingly registering the human body of the flight equipment.
Example four
As shown with reference to fig. 6-9.
Specifically, the present embodiment provides an intelligent no-fly area management system based on a signal shield of a flight device, and uses an intelligent no-fly area management method based on a signal shield of a flight device, including a no-fly device 1, a tracking device 2, and a server 3;
the flight-barring device 1 comprises a monitoring rod 10, a general signal detector 11, a monitoring camera 12, a warning area 13, a first protection area 14, first signal interference equipment 15, a second protection area 16 and second signal interference equipment 17, wherein the monitoring rod 10 is arranged in a planned flight-barring area and a flight-barring boundary position; the general signal detector corresponds to the monitoring rod 10, is arranged above the monitoring rod 10 and is used for acquiring an authorized frequency band signal of the flight equipment in a detection range; the monitoring camera 12 corresponds to the monitoring rod 10, is arranged above the monitoring rod 10, and is used for shooting an environmental image around the monitoring rod 10; the warning area 13 is disposed between the no-fly boundary and the second protection area 16; the first defense area is arranged at the flight forbidding area and the flight forbidding boundary position and is used for preventing the illegal flight equipment from entering the flight forbidding area; the first signal interference device 15 is disposed at the first protected area 14, and is configured to transmit an interference signal to the upper side of the first protected area 14; the second protection area 16 is arranged at the outer side position of the warning area 13 and used for preventing the illegal flying equipment from escaping; the second signal interference device 17 is disposed at the second protected area 16, and is configured to transmit an interference signal to the upper side of the second protected area 16;
the tracking device 2 comprises a grabbing unmanned aerial vehicle 20, an unmanned aerial vehicle camera 21, a grabbing mechanism 22, a rotating mechanism 23 and third signal interference equipment 24, wherein the grabbing unmanned aerial vehicle 20 is arranged at a safety position in a dormant no-fly area and is used for grabbing illegal flying equipment; the unmanned aerial vehicle camera 21 is arranged at an outer position of the grabbing unmanned aerial vehicle 20 and used for shooting an environmental image around the grabbing unmanned aerial vehicle 20; the grabbing mechanism 22 is arranged below the grabbing unmanned aerial vehicle 20 and used for grabbing fixed illegal flight equipment; the rotating mechanism 23 is arranged above the grabbing unmanned aerial vehicle 20, is respectively connected with the grabbing unmanned aerial vehicle 20 and the third signal interference device 24, and is used for driving the connected third signal interference device 24 to rotate; the third signal interference device 24 is connected with the rotating mechanism 23 and is used for transmitting interference signals to the illegal flying device;
the server 3 is arranged in the planning placement of the no-fly management department, and the server 3 includes:
the wireless module 30 is used for being wirelessly connected with the signal detector, the monitoring camera 12, the first signal interference device 15, the second signal interference device 17, the grabbing unmanned aerial vehicle 20, the unmanned aerial vehicle camera 21, the grabbing mechanism 22, the rotating mechanism 23, the third signal interference device 24, the flight control management department and the network respectively;
a signal detection module 31 for controlling the start or the stop of the designated universal signal detector 11;
the monitoring shooting module 32 is used for controlling the starting or closing of the appointed monitoring camera 12;
an information analysis module 33 for processing and analyzing information according to the specified information;
a coordinate recognition module 34 for calculating spatial coordinate data of the designated object according to the image;
a first interference module 35, configured to control the first sir device 15 to execute an interference mode with a set duration according to the set steps;
a second interference module 36, configured to control the second sir device 17 to execute an interference mode with a set duration according to the set steps;
the grabbing control module 37 is used for controlling the grabbing unmanned aerial vehicle 20 to execute the set unmanned aerial vehicle flight operation according to the set steps;
a third interference module 38, configured to control the third signal interference device 24 to transmit an interference signal to the specified object according to the set steps;
and the grabbing and fixing module 39 is used for controlling the grabbing mechanism 22 to execute the set grabbing operation according to the set steps.
As a preferred aspect of the present invention, the server 3 further includes:
and the area identification module 40 is used for recording the type information of the no-fly area and identifying the type of the designated no-fly area.
As a preferred aspect of the present invention, the server 3 further includes:
the unmanned aerial vehicle shooting module 41 is used for controlling the unmanned aerial vehicle camera 21 to be started or closed;
and a rotation adjusting module 42 for controlling the rotating mechanism 23 to perform the set rotation operation of the third signal interference device 24 according to the set steps.
As a preferred aspect of the present invention, the server 3 further includes:
the coverage combination module 43 is used for combining the monitoring image captured by the monitoring camera 12 in the no-fly area and the unmanned aerial vehicle image captured by the unmanned aerial vehicle camera 21 to form a coverage monitoring network in the no-fly area;
and the collision control module 44 is used for controlling the grabbing unmanned aerial vehicle 20 to execute the set collision operation of the flight equipment according to the set steps.
Wherein, a searchlight can be arranged at the position of the monitoring rod 10, thereby not only providing illumination, but also increasing the visibility for night detection; if illegal flying equipment exists at night, controlling a radar transmitter arranged at the position of a monitoring rod 10 to start, and acquiring the coordinates of the flying equipment in real time; the rotating mechanism 23 is a cardan shaft to control the third signal interference device 24 to rotate at multiple angles.
It should be understood that, in the fourth embodiment, the specific implementation process of each module described above may correspond to the description of the above method embodiments (the first to the third embodiments), and is not described in detail here.
The system provided in the fourth embodiment is only illustrated by dividing the functional modules, and in practical applications, the above-mentioned functions may be distributed by different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (8)
1. An intelligent no-fly region management method based on flight equipment signal shielding is characterized by comprising the following steps:
s1, controlling a general signal detector arranged at the position of a monitoring rod on a no-fly boundary to start to acquire an authorized frequency band signal of the flight equipment in a detection range in real time and controlling a monitoring camera arranged at the outer position of the monitoring rod to start to capture a monitoring image in real time;
s2, analyzing whether the flying equipment exists in the warning area of the no-fly boundary in real time according to the authorized frequency band signal of the flying equipment and the monitoring image;
s3, if yes, identifying real-time space coordinate data of the flight equipment according to the monitoring image, and analyzing whether the flight equipment enters a no-fly boundary or not in real time according to the space coordinate data and the monitoring image;
s4, if yes, controlling first signal interference equipment arranged at a first protection zone position inside a no-fly boundary to start to enter a signal shielding state within a preset time, and analyzing whether the flight equipment has return flight or not in real time according to the monitoring image;
s5, if yes, controlling second signal interference equipment arranged at a second protection area outside the no-fly boundary to start to enter a signal shielding state within preset time, and analyzing whether the flight equipment falls off in real time according to the monitoring image;
s6, if not, controlling the grabbing unmanned aerial vehicle closest to the space coordinate data of the flying equipment to track the space coordinate data position in real time according to the space coordinate data analyzed in real time, and controlling a third signal interference equipment arranged above the grabbing unmanned aerial vehicle to emit an interference signal to the flying equipment in real time;
s7, after the flying equipment is recognized to fall to the ground according to the monitoring image, controlling the grabbing unmanned aerial vehicle to grab and fix the flying equipment by using a lower grabbing mechanism and controlling the grabbing unmanned aerial vehicle to carry the grabbed flying equipment to a warehouse position of a no-fly management department;
wherein after S4, the method further comprises the steps of:
s40, analyzing whether the illegal flying equipment falls into a no-fly area in real time according to the monitoring image and the space coordinate data of the flying equipment after analyzing that the illegal flying equipment does not return;
s41, if yes, analyzing whether the flying equipment flies again or not in real time according to the monitoring image and the space coordinate data;
s42, if yes, controlling a grabbing unmanned aerial vehicle which is arranged in the no-fly area and is closest to the space coordinate data to track the space coordinate data in real time, controlling the grabbing unmanned aerial vehicle to grab and fix the flying equipment by using a grabbing mechanism at the lower position, and controlling the grabbing unmanned aerial vehicle to carry the grabbed flying equipment to the warehouse position of the no-fly management department.
2. The intelligent flight-equipment signal shielding-based flight-forbidden zone management method according to claim 1, after S2, the method further comprises the following steps:
s20, after the fact that the flying equipment enters the no-fly boundary is analyzed, analyzing the type of the no-fly area in real time according to the recorded information of the no-fly boundary and analyzing whether the no-fly area is a residential area or a confidential area in the range of the no-fly boundary in real time according to the type of the area;
s21, if yes, identifying real-time space coordinate data of the flight equipment according to the monitoring image and analyzing whether the flight equipment rises to a forbidden height or not in real time according to the space coordinate data;
and S22, if yes, controlling a second signal interference device arranged at the position of the second protection area to start to enter a signal shielding state of preset time so as to drive the illegal flying device to ascend.
3. The intelligent no-fly zone management method based on flight device signal shielding according to claim 1, wherein before grabbing the unmanned aerial vehicle for flight, the method further comprises the following steps:
s100, controlling an unmanned aerial vehicle camera arranged at the external position of the grabbing unmanned aerial vehicle to start and shoot an unmanned aerial vehicle image in real time and controlling the grabbing unmanned aerial vehicle to fly to an appointed coordinate according to the unmanned aerial vehicle image;
s101, when the grabbing unmanned aerial vehicle flies, controlling third signal interference equipment arranged above the grabbing unmanned aerial vehicle to enter a to-be-operated state;
s102, when the grabbing unmanned aerial vehicle tracks the designated space coordinate data in real time, controlling the third signal interference equipment to adjust to face the space coordinate data center in real time through a rotating mechanism and analyzing whether the distance between the grabbing unmanned aerial vehicle and the space coordinate data center is smaller than a preset distance or not in real time;
and S102, if so, controlling the third signal interference equipment to start to transmit interference signals to the flight equipment corresponding to the space coordinate data.
4. The intelligent flying-forbidden area management method based on flying equipment signal shielding according to claim 1, wherein when a grabbing unmanned aerial vehicle in a flying-forbidden area tracks illegal flying equipment, the method further comprises the following steps:
s200, analyzing whether the grabbing unmanned aerial vehicle tracks the flight equipment or not in real time according to the unmanned aerial vehicle image;
s201, if not, controlling monitoring cameras at the positions of a plurality of monitoring rods arranged in a no-fly area to start a real-time monitoring image and combining the monitoring image and unmanned aerial vehicle images shot by all unmanned aerial vehicle cameras in the no-fly area to form a covering monitoring network;
s202, controlling all grabbing unmanned aerial vehicles in the no-fly area to track or impact the flying equipment according to the coverage monitoring net;
s203, after the flying equipment is identified to fall to the ground according to the coverage monitoring network, the grabbing mechanism which is closest to the flying equipment and is arranged below the grabbing unmanned aerial vehicle is controlled to grab and fix the grabbing unmanned aerial vehicle and the flying equipment, and the grabbing unmanned aerial vehicle is controlled to carry the grabbed flying equipment to the warehouse position of a flight control department.
5. An intelligent no-fly zone management system based on signal shielding of flight equipment, which uses the intelligent no-fly zone management method based on signal shielding of flight equipment as claimed in any one of claims 1 to 4, and comprises a no-fly device, a tracking device and a server, and is characterized in that:
the flight forbidding device comprises a monitoring rod, a general signal detector, a monitoring camera, a warning area, a first protection area, first signal interference equipment, a second protection area and second signal interference equipment, wherein the monitoring rod is arranged in a planned flight forbidding area and a flight forbidding boundary position; the universal signal detector corresponds to the monitoring rod and is arranged above the monitoring rod and used for acquiring an authorized frequency band signal of the flight equipment in a detection range; the monitoring camera corresponds to the monitoring rod and is arranged above the monitoring rod and used for shooting an environmental image around the monitoring rod; the warning area is arranged between the no-fly boundary and the second protection area; the first defense area is arranged at the flight forbidding area and the flight forbidding boundary position and is used for preventing the illegal flight equipment from entering the flight forbidding area; the first signal interference equipment is arranged at the position of the first protection area and used for transmitting an interference signal to the upper part of the first protection area; the second protection area is arranged at the position outside the warning area and used for preventing the illegal flying equipment from escaping; the second signal interference equipment is arranged at the position of a second protection area and used for transmitting interference signals to the upper part of the second protection area;
the tracking device comprises a grabbing unmanned aerial vehicle, an unmanned aerial vehicle camera, a grabbing mechanism, a rotating mechanism and third signal interference equipment, wherein the grabbing unmanned aerial vehicle is used for grabbing an illegal flight equipment at a safety position set in a dormant no-fly area; the unmanned aerial vehicle camera is arranged at the outer position of the grabbing unmanned aerial vehicle and is used for shooting an environment image around the grabbing unmanned aerial vehicle; the grabbing mechanism is arranged below the grabbing unmanned aerial vehicle and used for grabbing fixed illegal flying equipment; the rotating mechanism is arranged above the grabbing unmanned aerial vehicle, is respectively connected with the grabbing unmanned aerial vehicle and third signal interference equipment, and is used for driving the connected third signal interference equipment to rotate; the third signal interference equipment is connected with the rotating mechanism and used for transmitting interference signals to the violation flying equipment;
the server is arranged in the planning placement of the no-fly management department, and comprises:
the wireless module is used for being wirelessly connected with the signal detector, the monitoring camera, the first signal interference equipment, the second signal interference equipment, the grabbing unmanned aerial vehicle, the unmanned aerial vehicle camera, the grabbing mechanism, the rotating mechanism, the third signal interference equipment, the no-fly management department and the network respectively;
the signal detection module is used for controlling the starting or the closing of the appointed general signal detector;
the monitoring shooting module is used for controlling the starting or closing of the appointed monitoring camera;
the information analysis module is used for processing and analyzing the information according to the specified information;
the coordinate identification module is used for calculating space coordinate data of the specified object according to the image;
the first interference module is used for controlling the first signal interference equipment to execute an interference mode with set duration according to the set steps;
the second interference module is used for controlling the second signal interference equipment to execute an interference mode with set duration according to the set steps;
the grabbing control module is used for controlling the grabbing unmanned aerial vehicle to execute the set unmanned aerial vehicle flight operation according to the set steps;
the third interference module is used for controlling third signal interference equipment to transmit interference signals to the specified object according to the set steps;
and the grabbing fixing module is used for controlling the grabbing mechanism to execute the set grabbing operation according to the set steps.
6. The intelligent flight-equipment signal shielding-based flight-forbidden zone management system according to claim 5, wherein the server further comprises:
and the area identification module is used for recording the type information of the no-fly area and identifying the type of the appointed no-fly area.
7. The intelligent flight-equipment signal shielding-based flight-forbidden zone management system according to claim 5, wherein the server further comprises:
the unmanned aerial vehicle shooting module is used for controlling the starting or closing of the unmanned aerial vehicle camera;
and the rotation adjusting module is used for controlling the rotating mechanism to execute the set rotating operation of the third signal interference equipment according to the set steps.
8. The intelligent flight-equipment signal shielding-based flight-forbidden zone management system according to claim 5, wherein the server further comprises:
the coverage combination module is used for combining the monitoring image shot by the monitoring camera of the no-fly area and the unmanned aerial vehicle image shot by the unmanned aerial vehicle camera to form a coverage monitoring network of the no-fly area;
and the collision control module is used for controlling the grabbing unmanned aerial vehicle to execute the set collision operation of the flight equipment according to the set steps.
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